A Darboux-Frame-Based Formulation of Spin-Rolling Motion of Rigid Objects with Point Contact

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A Darboux-Frame-Based Formulation of Spin-Rolling Motion of Rigid Objects with Point Contact

This paper investigates the kinematics of spin-rolling motion of rigid objects. This paper does not consider slipping but applies a Darboux frame to develop kinematics of spin-rolling motion, which occurs in a nonholonomic system. A new formulation of spin-rolling motion of the moving object is deri...

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Bibliographic Details
Main Authors:	Cui, Lei, Dai, J.
Format:	Journal Article
Published:	IEEE Press 2010
Subjects:	kinematics rolling nonholonomic grasping spin-rolling point contact multifingered hand motion Darboux frame
Online Access:	http://hdl.handle.net/20.500.11937/22245

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